CN115163977B - High-performance driving device in pipeline - Google Patents
High-performance driving device in pipeline Download PDFInfo
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- CN115163977B CN115163977B CN202110354485.4A CN202110354485A CN115163977B CN 115163977 B CN115163977 B CN 115163977B CN 202110354485 A CN202110354485 A CN 202110354485A CN 115163977 B CN115163977 B CN 115163977B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
本发明涉及管道内部的监检测、维护、维修等作业用的牵拉驱动装置领域，特别涉及一种管道内高性能驱动装置。由驱动机构、连臂、调整机构组成；驱动机构以调整机构为中心周向均匀布置，每个驱动机构的两端分别通过两个连臂连接到调整机构对应位置上；驱动机构设置有导轮驱动系统负重轮、驱动轮、履带等，采用模块化设计，可根据不同管道内径要求选择连臂长度，适用于多种规格的管道，同时，可根据牵引力需求选择驱动机构的数量；调整机构设有两个调整器、两个弹簧，相互配合使用，提高了驱动能力并满足越障要求，在遇意外情况时还可自行调整，提高了安全可靠性。
The present invention relates to the field of traction drive devices for monitoring, inspection, maintenance, repair and other operations inside pipelines, and in particular to a high-performance drive device inside pipelines. It is composed of a driving mechanism, a connecting arm, and an adjustment mechanism; the driving mechanism is evenly arranged circumferentially with the adjustment mechanism as the center, and the two ends of each driving mechanism are connected to the corresponding positions of the adjustment mechanism through two connecting arms respectively; the driving mechanism is provided with a guide wheel drive system road wheel, a driving wheel, a crawler track, etc., and adopts a modular design. The length of the connecting arm can be selected according to the requirements of different inner diameters of pipelines, and it is suitable for pipelines of various specifications. At the same time, the number of driving mechanisms can be selected according to the traction force requirements; the adjustment mechanism is provided with two adjusters and two springs, which are used in conjunction with each other to improve the driving ability and meet the obstacle crossing requirements. In case of unexpected situations, it can also adjust itself to improve safety and reliability.
Description
Technical Field
The invention relates to the field of traction driving devices for operations such as monitoring, maintenance and repair in a pipeline, in particular to a high-performance driving device in the pipeline.
Background
As economies develop, various pipelines have become an important infrastructure. After long-term service, the pipeline has various defects or unknown geographical positions, and the pipeline needs to be monitored, detected, maintained, repaired, measured for position information and the like through the pipeline, so that the driving device in the pipeline has important significance for guaranteeing the use safety of the pipeline.
At present, the existing in-pipe robot basically adopts a wheel type mode driven by friction force generated by self gravity, and the problems of weak driving capability, poor obstacle crossing capability and the like generally exist.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a high-performance driving device in a pipeline, is applied to the traction driving or similar fields for operations such as monitoring, maintenance, repair and the like in the pipeline, is designed according to the internal operation requirements of the in-service pipeline, provides high traction power for relevant professional equipment dragged into the pipeline, and has high obstacle surmounting capability.
The technical scheme is as follows:
An in-pipe high performance driving apparatus comprising:
The driving mechanisms are circumferentially and uniformly arranged by taking the adjusting mechanisms as the centers, the number of the driving mechanisms is at least 3, and two ends of each driving mechanism are hinged with two ends of the adjusting mechanism through the connecting arms.
The driving mechanism includes:
the device comprises a guide wheel, a guide wheel shaft, a guide wheel cover, a driving system, a loading wheel supporting arm, a driving box body, a fixed shaft cover, a cone gear train, a driving shaft, a driving sealing body, a driving wheel and a crawler belt;
The driving system is arranged in the cavity of the driving box body, the front end is provided with a guide wheel cover, the rear end is provided with a fixed shaft cover and a driving sealing body, a loading wheel supporting arm is arranged relative to the outer side of the adjusting mechanism 3, and the internal cavity formed by the driving box body, the guide wheel cover, the fixed shaft cover and the driving sealing body is a sealing cavity;
The front end of the guide wheel cover is provided with a hole matched with the guide wheel shaft, and connecting arms, guide wheels and guide wheel covers are symmetrically arranged on both sides of the guide wheel shaft in sequence from the outermost surface;
The track is wound on the guide wheel, the bogie wheel and the driving wheel, is of a closed loop structure, the outer side of the track is arc-shaped and is matched with the inner wall of the pipeline in an arc shape, tooth-shaped structures are symmetrically arranged on two sides of the inner side of the track and are matched with teeth of the guide wheel and the driving wheel, and the middle part of the inner side of the track is of a plane structure and is matched with the bogie wheel.
The adjusting mechanism includes:
the front adjuster, the front box body, the front connector, the front solid, the front screw rod, the front end cover, the front nut, the front spring fixed cylinder, the front spring fixed cover, the front spring sliding cylinder, the front earring, the rear spring sliding cylinder, the rear spring fixed cover, the rear spring fixed cylinder, the rear nut, the rear end cover, the rear screw rod, the rear solid, the rear box body, the rear connector and the rear adjuster;
The front end face of the front solid is matched with the front box body, the front end face of the front solid is fixed with a front end cover, a front lead screw and a front connector are respectively arranged in the front end face, a front spring fixed cylinder is arranged on the outer circular surface of the front solid, and grooves matched with a front nut are formed among the front lead screw and the front spring fixed cylinder;
The front nut is fixed with the front spring fixed cylinder and is matched with the front screw rod, the inner cavity of the front spring fixed cylinder is matched with the front solid, the outer circular surface is in a ladder shape, the large cylindrical surface is arranged at the rear end, the small cylindrical surface is sequentially provided with the front spring sliding cylinder, the front spring and the front spring fixed cover, the front spring sliding cylinder is internally provided with a ladder hole, the small hole is matched with the front solid, the large hole is respectively matched with the front spring fixed cover and the front spring, and the front end of the outer circular surface is provided with a front earring matched with the connecting arm;
The front end face of the rear solid is matched with the rear box body, the rear end face of the rear solid is fixed with a rear end cover, a rear screw rod and a rear connector are respectively arranged in the inner stepped holes, a rear spring fixed cylinder is arranged on the outer circular surface, and grooves matched with a rear nut are formed in the rear solid, between the rear screw rod and the rear spring fixed cylinder;
The inner cavity of the rear spring fixed cylinder is matched with the rear solid, the outer circular surface is in a ladder shape, a large cylindrical surface is arranged at the front end, and a rear spring sliding cylinder, a rear spring and a rear spring fixed cover are sequentially arranged on a small cylindrical surface;
the rear spring sliding cylinder is internally provided with a stepped hole, the small hole is matched with the rear solid, the large hole is respectively matched with the rear spring fixed cover and the rear spring, and the rear end of the outer circular surface is provided with a rear earring matched with the connecting arm;
The rear end of the rear connector is matched with the rear screw rod, and the front end of the rear connector is matched with the rear adjuster.
The connecting arm forms a certain angle with the central line of the pipeline in the working state.
The axes of the guide wheel and the driving wheel are continuously parallel to the central line of the pipeline, and the minimum distance between the outer circle line of the guide wheel and the pipeline wall is larger than the minimum distance between the outer circle line of the loading wheel and the pipeline wall.
The guide wheel shaft, the driving shaft and the central line of the shaft of the bogie wheel are parallel, the guide wheel is identical to the driving wheel, and the guide wheel and the driving wheel are in the same plane vertical to the central line of the guide wheel shaft after being installed in place.
The outer surfaces of the front nut and the rear nut are respectively provided with a bulge which corresponds to and is matched with the front solid and the rear solid.
The connecting arm is an adjustable connecting mechanism consisting of a telescopic rod and a connecting fork.
The telescopic rod includes:
The device comprises an adjusting screw rod, a rotary screw sleeve and a connecting rod, wherein one end of the connecting rod is fixedly connected with a connecting fork, the rotary screw sleeve is rotationally connected to the other end of the connecting rod, the adjusting screw rod and the rotary screw sleeve are in threaded transmission fit to perform linear reciprocating motion, and a space for accommodating the adjusting screw rod to perform linear reciprocating motion is arranged in the connecting rod.
The lower end of the rotary swivel nut is rotationally connected with the upper end of the connecting rod through a bearing fixedly arranged at the upper end of the connecting rod.
The beneficial effects of the invention are as follows:
The driving mechanism is in modularized design, the length of the connecting arm can be selected according to the inner diameter requirements of different pipelines, the driving mechanism is suitable for pipelines with various specifications, meanwhile, the number of the driving mechanism can be selected according to the traction force requirements, the front adjuster and the rear adjuster are respectively matched with the front spring and the rear spring for use, the driving force is improved, obstacle crossing requirements are met, the driving mechanism can be adjusted in case of accidents, the safety and reliability are improved, the track type is adopted, the minimum distance between the outer circular line of the driving wheel and the guide wheel and the pipe wall is larger than the minimum distance between the outer circular line of the loading wheel and the pipe wall, the obstacle crossing performance is improved, the whole device is compact in design structure, and the driving mechanism has the characteristics of large driving force, strong obstacle crossing capability, self-adjustment in case of obstacle crossing, good economy and the like.
Drawings
FIG. 1 is a view B-B of FIG. 2;
FIG. 2 is a view A-A of FIG. 1;
FIG. 3 is a front view of a high performance drive system in a pipeline;
FIG. 4 is a front view of a front adjustment system for a high performance drive in a pipeline;
FIG. 5 is a front view of a front adjustment system for a high performance drive in a pipeline;
FIG. 6 is a schematic diagram of a link arm structure;
FIG. 7 is a front view of the link arm;
FIG. 8 is a view C-C of FIG. 7;
FIG. 9 is an enlarged view of a portion of the portion at II in FIG. 8;
in the figure, 1, a driving mechanism, 2, a connecting arm, 3, an adjusting mechanism, 4, a pipeline, 5, an adjusting screw rod, 6, a rotary screw sleeve, 7, a connecting rod, 9, a connecting fork, 1A, a guide wheel, 1B, a guide wheel shaft, 1C, a guide wheel cover, 1D, a driving system, 1E, a bogie wheel, 1F, a bogie wheel supporting arm, 1G, a driving box body, 1H, a fixed shaft cover, 1I, a cone pulley system, 1J, a driving shaft, 1K, a driving sealing body, 1L, a driving wheel, 1M, a track, 3A, a front adjuster, 3B, a front box body, 3C, a front connector, 3D, a front solid body, 3E, a front screw rod, 3F, a front end cover, 3G, a front nut, 3H, a front spring fixed cylinder, 3I, a front spring fixed cover, 3J, a front spring, 3K, a front spring cylinder, 3L, a front earring, 3M, a rear earring, 3N, a rear spring cylinder, 3O, a rear spring, 3P, a rear spring cover, 3S, a rear cylinder 3R, a rear adjuster, a rear box body, a rear adjuster, a 3U, a rear nut, a rear end cover, a 3U, a rear adjuster, a rear box body, a 3U, a rear end cover, a 3U, a rear adjuster, a 3, a rear end cover, a 3U, a rear end connector, a 3 and a 3U.
Detailed Description
The invention is further described in detail below with reference to the drawings and specific examples.
The invention has the technical idea that the driving mechanism 1 is uniformly distributed along the axial direction of the pipeline, the driving mechanism 1 is connected with the adjusting mechanism 3 positioned at the center of the pipeline through the connecting arm 2, and the adjusting mechanism 3 is provided with two pre-tightening motors and springs, so that the driving mechanism 1 can be tightly attached to the pipeline wall, and the driving mechanism 1 drives the whole device to move forwards and backwards through the driving motor and the driving wheel, thereby realizing the traction operation function of the device.
Embodiment one:
A high-performance driving device in a pipeline is arranged in a pipeline 4 and mainly comprises a driving mechanism 1, a connecting arm 2 and an adjusting mechanism 3.
The driving mechanisms 1 are uniformly arranged circumferentially by taking the adjusting mechanism 3 as a center, and two ends of each driving mechanism 1 are respectively connected to corresponding positions of the adjusting mechanism 3 through two connecting arms 2;
the driving mechanism 1 consists of a guide wheel 1A, a guide wheel shaft 1B, a guide wheel cover 1C, a driving system 1D, a loading wheel 1E, a loading wheel supporting arm 1F, a driving box body 1G, a fixed shaft cover 1H, a cone pulley system 1I, a driving shaft 1J, a driving sealing body 1K, a driving wheel 1L and a crawler belt 1M.
The driving system 1D is arranged in a cavity of the driving box body 1G, the front end of the driving box body is provided with a guide wheel cover 1C, the rear end of the driving box body is provided with a fixed shaft cover 1H and a driving sealing body 1K, a bogie wheel supporting arm 1F is arranged relative to the outer side of the adjusting mechanism 3, the driving box body 1G, the guide wheel cover 1C, the fixed shaft cover 1H and an inner cavity formed by the driving box body 1H and the driving sealing body 1K are all sealed cavities, the driving system 1D is integrally formed by a driving motor and a planetary reducer and is fixed on the fixed shaft cover 1H, an output shaft is sequentially matched with a bearing fixed on the fixed shaft cover 1H and is connected with an inner hole key of a bevel gear, the front end of the guide wheel cover 1C is provided with a hole matched with a guide wheel shaft 1B, two sides of the guide wheel shaft 1B are sequentially symmetrically provided with the connecting arm 2, the guide wheel 1A and the guide wheel cover 1C from the outermost side, the conical wheel system 1I is arranged in the sealing cavity formed by the fixed shaft cover 1H and the driving sealing body 1K, the driving shaft 1J is arranged on the driving sealing body 1K and extends to the outer side of the driving sealing body 1, the driving shaft cover 1F is sequentially symmetrically provided with the bearing arms 1E 1B, the bogie wheel supporting arms are symmetrically arranged on the two sides of the inner sides of the guide wheel E and the guide wheel is in an arc-shaped structure matched with the inner side 1E, and the inner side 1E is matched with the guide wheel 1E is in an arc-shaped structure, and the bearing structure is arranged in the inner side 1E is matched with the inner side 1F 1 is matched with the inner side 1F is arranged in the bearing 1F is matched with the bearing 1F is arranged.
The adjusting mechanism 3 is composed of a front adjuster 3A, a front box 3B, a front coupler 3C, a front solid 3D, a front screw 3E, a front end cover 3F, a front nut 3G, a front spring fixing cylinder 3H, a front spring fixing cover 3I, a front spring 3J, a front spring slide cylinder 3K, a front ear ring 3L, a rear ear ring 3M, a rear spring slide cylinder 3N, a rear spring 3O, a rear spring fixing cover 3P, a rear spring fixing cylinder 3Q, a rear nut 3R, a rear end cover 3S, a rear screw 3T, a rear solid 3U, a rear box 3V, a rear coupler 3W, and a rear adjuster 3X.
The front box body 3B, the front connector 3C, the front solid 3D, the rear box body 3V, the rear connector 3W and the rear solid 3U are matched with each other to form a sealed cavity, the front end in the cavity is provided with a front adjuster 3A, and the rear end in the cavity is provided with a rear adjuster 3X; the front adjuster 3A is composed of a front pre-tightening motor and a planetary reducer and is fixed on the front box 3B; the rear end face of the front solid 3D is matched with the front box body 3B, a front end cover 3F is fixed on the front end face, a front lead screw 3E and a front connector 3C are respectively arranged in the front end face, a front spring fixed cylinder 3H is arranged on the outer circle face, and grooves matched with a front nut 3G are formed in the front solid 3D and between the front lead screw 3E and the front spring fixed cylinder 3H; the front nut 3G is fixed with the front spring fixed cylinder 3H and is in threaded transmission fit with the front screw rod 3E, the inner cavity of the front spring fixed cylinder 3H is in a stepped shape with the front solid 3D, the large cylindrical surface is arranged at the rear end, the front spring sliding cylinder 3K, the front spring 3J and the front spring fixed cover 3I are sequentially arranged on the small cylindrical surface, a stepped hole is arranged in the front spring sliding cylinder 3H, the small hole is matched with the front solid 3D, the large hole is respectively matched with the front spring fixed cover 3I and the front spring 3J, the front end of the outer circular surface is provided with a front lug ring 3L hinged with the connecting arm 2, the front end of the front connector 3C is matched with the front screw rod 3E, the rear end of the rear adjuster 3A is in key connection with the output shaft of the front adjuster 3A, the rear adjuster 3X is formed by a rear pre-tightening motor and a planetary reducer and is fixed on the rear box 3V, the front end face of the rear solid 3U is matched with the rear box 3V, the rear end face of the rear spring fixed 3S is fixed on the rear box 3S, the stepped hole is respectively arranged in the rear spring 3T and the rear connector 3W is arranged on the front face, the outer circular surface is respectively matched with the stepped spring fixed with the front spring fixed cylinder 3Q, the front end cover 3Q is matched with the rear screw rod 3Q, the front adjuster 3Q is matched with the front solid 3Q, and the front adjuster 3Q is matched with the front solid 3A, the large cylindrical surface is arranged at the front end, the small cylindrical surface is sequentially provided with a rear spring sliding cylinder 3N, a rear spring 3O and a rear spring fixed cover 3P, a stepped hole is arranged in the rear spring sliding cylinder 3N, the small hole is matched with the rear solid 3U, the large hole is respectively matched with the rear spring fixed cover 3P and the rear spring 3O, the rear end of the outer circular surface is provided with a rear lug 3M hinged with the connecting arm 2, the rear end of a rear connector 3W is matched with a rear screw rod 3T, and the front end is connected with an output shaft key of the rear adjuster 3X.
The driving mechanisms 1 are uniformly circumferentially distributed along the pipeline 4, and the number of the driving mechanisms is not less than three.
The length of the connecting arm 2 can be changed according to the change of the inner diameter of the pipeline 4, and a certain angle is formed between the connecting arm and the central line of the pipeline in the working state.
The axes of the guide wheel 1A and the driving wheel 1L are continuously parallel to the center line of the pipe 4, and the minimum distance between the outer circle line of the guide wheel 1A and the wall of the pipe 4 is larger than the minimum distance between the outer circle line of the bogie wheel 1E and the wall of the pipe 4.
The center lines of the guide wheel shaft 1B and the driving shaft 1J are parallel to the center line of the shaft of the bogie wheel 1E, and the guide wheel 1A is identical to the driving wheel 1L and is in the same plane vertical to the center line of the guide wheel shaft 1B after being installed in place.
Protrusions are arranged on the outer surfaces of the front nut 3G and the rear nut 3R, correspond to and are matched with the front solid 3D and the rear solid 3U respectively.
Embodiment two:
The connecting arm 2 is an adjustable connecting arm and mainly comprises an adjusting screw rod 5, a rotary screw sleeve 6 and a connecting rod 7, wherein the adjusting screw rod 5 is in threaded connection with the rotary screw sleeve 6, the rotary screw sleeve 6 is rotatably sleeved at the end part of the connecting rod 7 through a bearing, and a cavity for accommodating the linear reciprocating motion of the adjusting screw rod 5 is formed in the connecting rod 7.
The installation process comprises the following steps:
The driving mechanism 1 is installed, wherein a driving system 1D is installed in a sealed box body formed by a driving box body 1G, a guide wheel cover 1C and a fixed shaft cover 1H, a cone gear train 1I is installed in a sealed box body formed by the driving box body 1G, a driving sealing body 1K and the fixed shaft cover 1H, two driving wheels 1L are respectively installed on driving shafts 1J at two sides of the driving sealing body 1K, two guide wheels 1A are installed on the guide wheel cover 1C through guide wheel shafts 1B, a loading wheel 1E is installed on the driving box body 1G through a loading wheel supporting arm 1F, a track 1M is installed on the guide wheels 1A, the loading wheel 1E and the driving wheels 1L, and the track 1M is tensioned to a proper degree through adjusting the guide wheels 1A.
The adjusting mechanism 3 is installed by screwing a front nut 3G onto a proper position of a front screw rod 3E, enabling a protruding part to correspond to a groove of a front solid 3D, installing the front screw rod 3E into a front solid 3D inner cavity, installing a front end cover 3F onto the front end part of the front solid 3D, installing a front spring fixed cylinder 3H onto the outer circular surface of the front solid 3D and fixing the front nut 3G together, installing a front spring sliding cylinder 3K, a front spring 3J and a front spring fixed cover 3I onto the front spring fixed cylinder 3H, installing a front connector 3C into a front solid 3D inner cavity, matching the front end with the front screw rod 3E, installing a front adjuster 3A into a front box 3B, matching the front end with the front connector 3C, installing the front solid 3D with the front box 3B, installing the front part of the adjusting mechanism 3 can be completed, installing the rear part can be completed according to the method, and finally installing the front box 3B and the rear box 3V can be completed.
The whole set of driving device is installed, wherein one set of driving device consists of one set of adjusting mechanism 3 and three or more sets of driving mechanisms 1, a plurality of sets of driving mechanisms 1 are uniformly distributed along the circumferential direction of the axial center line of the adjusting mechanism 3, the open ends of two connecting arms 2 are respectively connected to a guide wheel shaft 1B and a driving shaft 1J on the driving mechanism 1, the other ends of the connecting arms are respectively connected to a front earring 3L and a rear earring 3M on the adjusting mechanism 3 through pin shafts, the front spring fixing cover 3I and the rear spring fixing cover 3P are adjusted to enable the front spring 3J and the rear spring 3O to be in a compressed state and enable the driving mechanism 1 to be parallel to the adjusting mechanism 3, so that the installation of one driving mechanism 1 and the adjusting mechanism 3 can be completed, the installation of other driving mechanisms 1 and the adjusting mechanism 3 can be carried out according to the same method, and the central line distance between the center lines of all driving mechanisms 1 and the adjusting mechanism 3 is equal.
The operation process is that the driving system 1D is synchronously started, the driving device is placed in the pipeline 4, the front adjuster 3A and the rear adjuster 3X are started according to the traction requirement of the driving device, the front spring 3J and the rear spring 3O are further compressed, so that the pressure between the crawler belt 1M and the inner wall of the pipeline 4 is increased, then the driving system 1D is started to move in the pipeline 4, if the blocking cannot be carried out, the distance between the driving mechanism 1 and the adjusting mechanism 3 is reduced by starting the front adjuster 3A and the rear adjuster 3X, namely the diameter of the driving device is reduced, and if the slipping phenomenon occurs, the distance between the driving mechanism 1 and the adjusting mechanism 3 is increased by starting the front adjuster 3A and the rear adjuster 3X.
The embodiments disclosed herein are to be considered as illustrative and not restrictive. The above-described embodiments may be omitted, substituted, or altered in various forms without departing from the scope of the appended claims and their gist.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110354485.4A CN115163977B (en) | 2021-04-01 | 2021-04-01 | High-performance driving device in pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110354485.4A CN115163977B (en) | 2021-04-01 | 2021-04-01 | High-performance driving device in pipeline |
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| Publication Number | Publication Date |
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| CN115163977A CN115163977A (en) | 2022-10-11 |
| CN115163977B true CN115163977B (en) | 2024-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110354485.4A Active CN115163977B (en) | 2021-04-01 | 2021-04-01 | High-performance driving device in pipeline |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN111271543A (en) * | 2020-02-04 | 2020-06-12 | 西安交通大学 | A variable diameter pipeline robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10690281B2 (en) * | 2016-07-07 | 2020-06-23 | Chengdu Uneversity Of Technology | Pipeline robot capable of steering actively |
| CN207005569U (en) * | 2017-07-27 | 2018-02-13 | 青岛海艺自动化技术有限公司 | A kind of radially adjustable drive mechanism of pipe robot |
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2021
- 2021-04-01 CN CN202110354485.4A patent/CN115163977B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN111271543A (en) * | 2020-02-04 | 2020-06-12 | 西安交通大学 | A variable diameter pipeline robot |
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| CN115163977A (en) | 2022-10-11 |
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